Control mode system and method for excavator

Abstract

The present application relates to the technical field of electro-hydraulic control, and particularly relates to a control mode control system and method of a excavator. The present application comprises the following modules: a display module for displaying the control mode of the excavator, the control mode being divided into a standard mode, a sensitive mode and a fine mode; a control module for receiving input information of a bus and performing identification and judgment, the control module adopting three kinds of electro-hydraulic systems respectively for the three control modes, and establishing a main control valve and main pump control parameter database respectively; and a power execution module for collecting electro-control handle operation signal and sending analog signal, the power execution module determining the output current of proportional solenoid valve according to the front and back and left and right displacement of left and right electro-control handles, so as to adjust the action speed of boom cylinder, stick cylinder, bucket cylinder, slewing motor and traveling motor. The present application develops three kinds of excavator control modes of standard, sensitive and fine, so as to meet the needs of different operation habit user groups and different working conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electro-hydraulic control, in particular to a control system and method for operating mode of excavator. BACKGROUND

[0002] The excavator is a kind of earthwork construction machinery, and its working conditions mainly include excavation and loading at construction site. The excavator system mainly consists of engine, pump, control valve, oil cylinder, motor, pipeline and other accessories. The hydraulic oil pumped by the variable plunger pump driven by the engine is used to drive the boom cylinder, stick cylinder, bucket cylinder, swing motor and other actuators, so as to realize the actions of boom lifting, stick unloading and excavation, bucket excavation and unloading, and swing.

[0003] For different user groups and complex working conditions, the single excavator operating mode is difficult to meet the demand for operating performance under such complex conditions. To solve the above problems, three excavator operating modes, namely standard, agile and fine, are developed, and three matching modes of electro-hydraulic system are adopted to meet the demand for excavator operating performance of different user groups and complex working conditions.

[0004] For example, the patent CN115012469A discloses an intelligent control system and method for hydraulic excavator with no gear control and working condition self-adaptive, which has a constant mode or an intelligent mode. The constant mode is used to cope with light load and emergency working conditions, and the intelligent mode can correct the power of the main pump according to the power demand and its change trend, so that the output power of the engine power system can meet the demand of the main pump and work in a relatively stable speed range. However, the operating mode of this scheme is mainly single mode, which is difficult to adapt to complex and variable working conditions and different user groups with different operating habits. SUMMARY

[0005] The present application solves the technical problem of overcoming the shortcomings of the prior art and providing a control system and method for operating mode of excavator, which can meet the demand for excavator operating performance of different user groups with different operating habits and different working conditions by developing three excavator operating modes, namely standard, agile and fine.

[0006] The technical solution of the present application is as follows:

[0007] A control system for operating mode of excavator, comprising the following modules:

[0008] A display module for displaying the operating mode of excavator, which is divided into standard mode, agile mode and fine mode. The operator selects different operating modes through the display module and sends input signals to the control module through the bus.

[0009] The control module is used for receiving input information of the bus and performing identification and judgment, three kinds of electric control hydraulic systems are respectively used for the control module for the three kinds of operation modes, the main control valve and the main pump control parameter database are respectively established, and the performance of each operation mode is respectively debugged, so that the operation mode realizes optimal performance.

[0010] The power execution module is used for collecting electric control handle operation signal sending analog signals, and outputting proportional solenoid valve currents through control module operation.

[0011] The technical scheme of the present application comprises the display module, the control module and the power execution module, and forms a highly integrated and intelligent excavator operation mode control system, which is flexible, efficient and accurate, and meets various complex working requirements. The operator selects the working mode of the excavator through the display module, for example, selects the standard mode for general excavation work, selects the agile mode for situations requiring fast response, and selects the fine mode for occasions requiring high-precision operation. The control module has high intelligence and autonomy, and can dynamically adjust the parameters and performance of the system according to different modes. The power execution module is used for ensuring that the instructions of the control module can be accurately and efficiently executed, further improving the operation performance and precision of the excavator. The technical scheme of the present application comprises the display module, the control module and the power execution module, and forms a highly integrated and intelligent excavator operation mode control system, which is flexible, efficient and accurate, and meets various complex working requirements.

[0012] The technical scheme of the present application comprises the display module, the control module and the power execution module, and forms a highly integrated and intelligent excavator operation mode control system, which is flexible, efficient and accurate, and meets various complex working requirements.

[0013] An excavator operation mode control method using an excavator operation mode control system comprises the following steps:

[0014] S100, selecting and switching the standard mode, the agile mode and the fine mode through the display module of the excavator, and transmitting the operation mode input signal through the bus after switching the operation mode;

[0015] S200, the control module receives the input signal on the bus and performs identification and judgment, maintains the current operation mode, calls the parameters of the corresponding main control valve and main pump control parameter database according to the current mode, and performs control operation;

[0016] S300, the control module converts the electric control handle signal into the main control valve and the main pump proportional electromagnetic valve (11) current according to the relevant algorithm, adjusts the flow direction and flow of hydraulic oil by controlling the proportional electromagnetic valve, and finally controls the excavator working device to perform corresponding actions.

[0017] The display module of the excavator allows the operator to select the operation mode to meet the needs of different working scenarios:

[0018] Standard mode: suitable for most conventional excavating operations, providing stable and reliable operation performance;

[0019] Agile mode: emphasizes the quick response capability of the excavator, suitable for operations that require quick movement or subtle adjustments;

[0020] Fine mode: emphasizes the fine control capability of the excavator, suitable for situations that require high-precision operations.

[0021] In some embodiments, the step S100 includes the following sub-steps:

[0022] S110, through the mutual coordination of the display module and the control module, the display module interface is used to display the excavator control mode, which is divided into standard mode, agile mode, and fine mode;

[0023] S120, select different control modes according to actual working conditions and operation habits;

[0024] S130, the display module sends the current control mode to the control module through the bus.

[0025] In some embodiments, the step S200 includes the following sub-steps:

[0026] S210, the control module receives the display module message information through the excavator bus;

[0027] S220, the control module identifies and judges the message information, and analyzes the current control mode information;

[0028] S230, judge whether the excavator control mode has changed:

[0029] If not, go to the next step S240;

[0030] If it has changed, go back to step S220 to re-identify the control mode;

[0031] S240, if the control mode remains unchanged, the next time the power is turned on to the current memory control mode information, and there is no need to set the mode every time the power is turned on;

[0032] S250, calling corresponding master valve and master pump control parameter database parameters according to the current operation mode, three operation modes adopt three electric control hydraulic system matching modes, to realize the performance optimization of the excavator in the standard mode, the agile mode and the fine mode.

[0033] In some embodiments, the step S300 includes the following sub-steps:

[0034] S310, the electric control handle sends an analog signal according to the current position, the control module identifies and receives the signal from the electric control handle, and filters the signal;

[0035] S320, the control module calculates the main valve core pilot pressure value according to the front and rear and left and right displacement percentages of the electric control handle, and determines the output current of the excavator actuator proportional electromagnetic valve according to the pilot pressure / proportional electromagnetic valve conversion formula of the master valve and the master pump proportional electromagnetic valve;

[0036] S330, comparing the target electromagnetic valve current value with the feedback actual electromagnetic valve current, and outputting the actual control current through the internal PID control algorithm of the control module;

[0037] S340, adjusting the sizes of the main control valve core pilot pressure of the excavator boom, arm, bucket, rotation and walking, pushing the displacement control hydraulic oil flow direction and flow of the main control valve core, and adjusting the size of the master pump displacement through the master pump electromagnetic valve control swash plate angle adjuster;

[0038] S350, the main control valve adjusts the execution action and speed of the boom cylinder, arm cylinder, bucket cylinder, rotation motor and walking motor by controlling the flow and flow direction of the hydraulic oil.

[0039] In some embodiments, the step S100 includes the following contents in the standard mode:

[0040] A1, establishing a standard mode control parameter database: the electric control handle action signal percentage corresponds to the master valve proportional electromagnetic valve pilot pressure point parameter library P L [] and the master pump demand displacement point parameter library Q L [].

[0041] A2, master valve control in the standard mode: the action speed of the excavator in the standard mode is relatively neutral, and the signal percentage of the electric control handle and the proportional electromagnetic valve pilot pressure fitting curve show a first function relationship:

[0042] P L =k L1 ·X+b L1 Wherein: k L1 , b L1 are the proportional electromagnetic valve pilot pressure coefficients in the standard mode, and k L1> 0, b L1 > 0;

[0043] X is the percentage of the electric control handle signal; P L is the proportional electromagnetic valve pilot pressure of the standard mode master valve;

[0044] A3, master pump control in standard mode: the action speed of the excavator master pump is affected by the master pump displacement, and the percentage of the electric control handle signal and the master pump displacement fitting curve is a first-order function relationship:

[0045] Q L = k L2 ·X + b L2

[0046] Wherein: k L2 , b L2 are the master pump displacement coefficients in standard mode, and k L2 > 0, b L2 > 0;

[0047] X is the percentage of the electric control handle signal; Q L is the master pump displacement in standard mode.

[0048] In the technical solution, the standard mode is suitable for most conventional excavating operations, and provides stable and reliable operation performance. By establishing a standard mode control parameter database, the accurate mapping relationship between the electric control handle action signal and the master valve and master pump control parameters is realized; the master valve control and master pump control in standard mode both follow a first-order function relationship, so as to ensure the stability and accuracy of the action speed of the excavator; the control method helps to improve the control performance and operation efficiency of the excavator, and meets different engineering requirements.

[0049] In some embodiments, the agile mode includes the following in step S100:

[0050] B1, establish agile mode control parameter database: the percentage of the electric control handle action signal corresponds to the master valve proportional electromagnetic valve pilot pressure point parameter library P M [] and the master pump demand displacement point parameter library Q M [];

[0051] B2, response speed in agile mode: based on the standard mode, the PID control response speed of the master valve and master pump proportional electromagnetic valve is improved;

[0052] B3, master valve control in agile mode: compared with the standard mode, the action speed and response of the excavator are faster, and the percentage of the electric control handle signal and the proportional electromagnetic valve pilot pressure fitting curve is a second-order function relationship:

[0053] P M = k M1 ·X2 +b M1 ·X+c M1

[0054] wherein: k M1 , b M1 , c M1 are respectively the proportional electromagnetic valve pilot pressure coefficient of the agility mode, and k M1 <0, b M1 >0, c M1 >0;

[0055] X is the percentage of the electric control handle signal; P M is the proportional electromagnetic valve pilot pressure of the main control valve in the agility mode;

[0056] B4, main pump control in the agility mode: the agility mode electric control handle signal percentage and the main pump displacement fitting curve are in a quadratic function relationship:

[0057] Q M =k M2 ·X 2 +b M2 ·X+c M2

[0058] wherein: k M2 , b M2 , c M2 are respectively the main pump displacement coefficient in the agility mode, and k M2 <0, b M2 >0, c M2 >0;

[0059] X is the percentage of the electric control handle signal, and Q M is the main pump displacement in the agility mode;

[0060] B5, speed drop solution in the agility mode: adopting main pump proportional control adjustment, setting the target engine speed n t , forming closed loop control through the actual speed n a fed back by the engine;

[0061] when the actual engine speed is detected to be lower than the target speed, reducing the main pump displacement to reduce the engine load;

[0062] calculating the engine speed difference: E n =n t -n a ;

[0063] main pump displacement proportional control: Q n =Q n-1 -E n ;

[0064] wherein: E nn t is the target engine speed, n a is the actual engine speed, n n is the current displacement of the main pump, Q n-1 is the last displacement of the main pump.

[0065] In the technical solution, the agile mode emphasizes the rapid response capability of the excavator and is suitable for operations that require rapid movement or subtle adjustment. By establishing an agile mode control parameter database, the agile mode realizes the accurate mapping relationship between the electric control handle action signal and the control parameters of the main control valve and the main pump. In the agile mode, the control of the main control valve and the main pump adopts a faster PID control response speed to improve the action speed and response capability of the excavator. In addition, the control of the main control valve and the main pump in the agile mode both follow a quadratic function relationship, which helps to further improve the accuracy and stability of the excavator action. To solve the problem of speed drop that may occur during the operation of the excavator, the agile mode also adopts proportional control adjustment of the main pump to ensure the stability of the engine speed through closed-loop control. This control method helps to improve the control performance and operation efficiency of the excavator, especially in engineering projects that require rapid response and subtle adjustment.

[0066] In some embodiments, the fine mode in step S100 includes the following contents:

[0067] C1, establish a fine mode control parameter database: the electric control handle action signal percentage corresponds to the main control valve proportional electromagnetic valve pilot pressure point parameter library P N and the main pump demand displacement point parameter library Q N ;

[0068] C2, response speed in fine mode: based on the standard mode, reduce the PID control response speed of the main control valve and the main pump proportional electromagnetic valve;

[0069] C3, main control valve control in fine mode: compared with the standard mode, the excavator action speed and response are slower, and the electric control handle signal percentage and the proportional electromagnetic valve pilot pressure fitting curve are quadratic function relationship:

[0070] P N = k N1 ·X 2 + c N1

[0071] wherein: k N1 , c N1 are the fine mode proportional electromagnetic valve pilot pressure coefficients, and k N1 > 0, c N1 > 0;

[0072] X is the electric control handle signal percentage; PN The proportional solenoid valve pilot pressure of the master control valve in the fine mode

[0073] C4, master pump control in the fine mode: reduce the maximum displacement Q of the master pump based on the standard mode max , reduce the speed of the excavator action, and improve the softness and accuracy of the whole machine action;

[0074] The fitting curve of the fine mode electric control handle signal percentage and the master pump displacement is a quadratic function:

[0075] Q N = k N2 ·X 2 +c N2 Wherein: k N2 , c N2 are the fine mode master pump displacement coefficients, and k N2 > 0, c N2 > 0;

[0076] X is the electric control handle signal percentage, and Q N is the fine mode master pump displacement.

[0077] In the technical solution, the fine mode emphasizes the fine control ability of the excavator, and is suitable for occasions requiring high-precision operation. By establishing a fine mode control parameter database, the electric control handle action signal and the control parameters of the master control valve and the master pump are accurately mapped. In the fine mode, the control of the master control valve and the master pump adopts a reduced PID control response speed to reduce the action speed and response of the excavator and improve the accuracy and stability of the control. The control of the master control valve and the master pump in the fine mode both follow a quadratic function, which helps to further optimize the accuracy and softness of the excavator action. In addition, the fine mode also reduces the maximum displacement of the master pump to reduce the action speed of the excavator and improve the softness and accuracy of the whole machine action. This control method helps to improve the control performance and operation accuracy of the excavator, especially in occasions requiring high-precision operation.

[0078] Compared with the prior art, the present application has the following beneficial effects:

[0079] The present application selects and switches the standard mode, the agile mode and the fine mode through the display module of the excavator. The three control modes adopt three electric control hydraulic system matching modes. The standard mode has a neutral control, which can satisfy about 80% of the users. The agile mode has a faster control speed, which is suitable for users requiring high operation efficiency such as mine customers. The fine mode has a soft control, which is suitable for fine operation of the excavator. The excavator adopts the standard, agile and fine control mode control technology, which can meet the needs of different operation habit user groups and different working conditions for the control performance of the excavator. BRIEF DESCRIPTION OF DRAWINGS

[0080] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, for the ordinary skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0081] Figure 1 is the principle diagram of the system of the present application.

[0082] Figure 2 is the hardware structure diagram of the system of the present application.

[0083] Figure 3 is the switching interface diagram of the control mode of the present application.

[0084] Figure 4 is the flow chart of the method of the present application.

[0085] Figure 5 is the detailed flow chart of step S100 in Figure 4

[0086] is the detailed flow chart of step S200 in Figure 6 Figure 4 is the detailed flow chart of step S300 in

[0087] Figure 7 Figure 4 is the fitting curve comparison diagram of the electric control handle signal percentage and the proportional electromagnetic valve pilot pressure in three control modes.

[0088] Figure 8 is the fitting curve comparison diagram of the electric control handle signal percentage and the main pump displacement in three control modes.

[0089] Figure 9 is the fitting curve comparison diagram of the electric control handle signal percentage and the main pump displacement in three control modes.

[0090] In the figure: 1, display module; 2, control module; 3, bus; 4, main control valve; 5, main pump; 6, engine; 7, electric control handle; 8, main control valve proportional electromagnetic valve; 9, swash plate angle regulator; 10, actuator; 11, main pump proportional electromagnetic valve; 12, boom cylinder; 13, stick cylinder; 14, bucket cylinder; 15, traveling motor; 16, slewing motor. DETAILED DESCRIPTION

[0091] ​​In order to make the operator in the technical field better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the operator in the art without creative labor should belong to the protection scope of the present application.

[0092] Embodiment 1

[0093] As shown in Figure 1 and Figure 2 , the present embodiment provides a control mode control system of excavator, comprising the following modules:

[0094] As shown in Figure 3 , the display module is used to display the control mode of the excavator, and the control mode is divided into standard mode, agile mode and fine mode. The operator selects different control modes through the display module, and sends the input signal to the control module through the bus 3.

[0095] The control module is used to receive and identify the input information of the bus 3. The control module adopts three kinds of electric control hydraulic systems respectively for the three kinds of control modes, respectively establishes the main control valve and the main pump control parameter database, and respectively performs performance debugging for each control mode, so that the control mode realizes the optimal performance.

[0096] The power execution module is used to collect the operation signal of the electric control handle 7 and send the analog signal. The proportional solenoid valve current is outputted after the operation of the control module. The power execution module determines the output current of the proportional solenoid valve according to the front and back and left and right displacement of the left and right electric control handles, so as to adjust the action speed of the boom cylinder 12, the stick cylinder 13, the bucket cylinder 14, the rotating motor 16 and the walking motor 15.

[0097] The technical scheme is highly integrated and intelligent, and has the characteristics of flexibility, high efficiency and precision, and meets various complex work requirements. The operator selects the working mode of the excavator through the display module: for example, selects the standard mode for general excavation work, selects the agile mode for situations requiring fast response, and selects the fine mode for situations requiring high-precision operation. The control module has high intelligence and autonomy, and can dynamically adjust the parameters and performance of the system according to different modes; for example, after the display module receives the input signal of the operator, the control module will identify and judge, and adjust the control parameters of the electric hydraulic system, the main control valve and the main pump according to the selected mode; for example, the control module also performs performance debugging on each control mode to ensure that each control mode can achieve optimal performance. The power execution module is used to ensure that the instructions of the control module can be accurately and efficiently executed, further improving the operation performance and precision of the excavator. The power execution module outputs the current of the proportional electromagnetic valve through the operation of the control module, which determines the action speed of each oil cylinder and motor, thereby accurately controlling each action of the excavator.

[0098] Embodiment 2

[0099] As Figure 4 shown, based on embodiment 1, the embodiment provides a control mode control method of an excavator, which adopts a control mode control system of the excavator, and includes the following steps:

[0100] S100, selecting and switching the standard mode, the agile mode and the fine mode through the display module of the excavator, after the control mode is switched, transmitting the control mode input signal through the bus 3;

[0101] S200, the control module receives the input signal on the bus 3 and identifies and judges, maintains the current control mode, calls the parameters of the corresponding main control valve and main pump control parameter database according to the current mode, and performs control operation;

[0102] S300, the control module converts the electric control handle 7 signal into the current of the main control valve 4 and the main pump proportional electromagnetic valve 11 according to the related algorithm, adjusts the flow direction and flow of the hydraulic oil through the control proportional electromagnetic valve, and finally controls the excavator working device to perform corresponding actions.

[0103] Through the display module of the excavator, the operator can select the operation mode to meet the needs of different working scenes:

[0104] Standard mode: suitable for most conventional excavation operations, providing stable and reliable operation performance;

[0105] Agile mode: emphasizes the quick response ability of the excavator, suitable for jobs that require quick movement or subtle adjustments;

[0106] Fine mode: emphasizes the fine control ability of the excavator, suitable for situations that require high-precision work.

[0107] As shown in Figure 5 , the step S100 includes the following sub-steps:

[0108] S110, through mutual coordination of the display module and the control module, the display module interface is used to display the excavator control mode, which is divided into standard mode, agile mode and fine mode;

[0109] S120, according to the actual working conditions and operation habits, different control modes are selected;

[0110] S130, the display module sends the current control mode to the control module through the bus 3.

[0111] As shown in Figure 6 , the step S200 includes the following sub-steps:

[0112] S210, the control module receives the display module message information through the excavator bus 3;

[0113] S220, the control module identifies and judges the message information, and analyzes the current control mode information;

[0114] S230, judge whether the excavator control mode is changed:

[0115] If not changed, go to the next step S240;

[0116] If changed, go to the previous step S220 to re-identify the control mode;

[0117] S240, if the control mode remains unchanged, the next time the power is turned on as the current memory control mode information, and there is no need to set the mode every time the power is turned on;

[0118] S250, according to the current control mode, the corresponding main control valve and main pump control parameter database parameters are called, three control modes adopt three electric control hydraulic system matching modes, so as to realize the performance optimization of the excavator in the standard mode, agile mode and fine mode.

[0119] As shown in Figure 7 , the step S300 includes the following sub-steps:

[0120] S310, the electric control handle 7 sends an analog signal according to the current position, the control module identifies and receives the signal from the electric control handle 7, and filters the signal;

[0121] S320, the control module calculates the main valve core pilot pressure value according to the front and back and left and right displacement percentage of the electric control handle 7, and determines the output current of the excavator actuator 10 proportional electromagnetic valve according to the pilot pressure / proportional electromagnetic valve conversion formula of the main control valve 4 and the main pump proportional electromagnetic valve 11;

[0122] S330, compare the target electromagnetic valve current value with the feedback actual electromagnetic valve current, and output the actual control current through the internal PID control algorithm of the control module;

[0123] S340, adjust the size of the main control valve 4 valve core pilot pressure of the excavator boom, arm, bucket, rotation, walking, push the main control valve 4 valve core displacement control hydraulic oil flow direction and flow, and at the same time, the main pump 5 electromagnetic valve control swash plate angle regulator 9 to adjust the size of the main pump 5 displacement;

[0124] S350, the main control valve 4 adjusts the execution action and speed of the boom cylinder 12, arm cylinder 13, bucket cylinder 14, rotation motor 16 and walking motor 15 by controlling the flow and direction of hydraulic oil.

[0125] Example 3

[0126] Based on example 2, the specific contents of the standard mode, the agile mode and the fine mode are combined to explain the control method in detail.

[0127] I. The standard mode includes the following contents:

[0128] A1, establish a standard mode control parameter database: electric control handle action signal percentage corresponding to main control valve proportional electromagnetic valve 8 pilot pressure point parameter library P L and main pump demand displacement point parameter library Q L ;

[0129] A2, main control valve control in standard mode: the action speed of the excavator in standard mode is relatively neutral, and the fitting curve of the electric control handle signal percentage and the proportional electromagnetic valve pilot pressure is a first function relationship, as shown in Figure 7

[0130] P L =k L1 ·X+b L1

[0131] Wherein: k L1 , b L1 are the proportional electromagnetic valve pilot pressure coefficient of the standard mode, and k L1 >0, b L1 >0;

[0132] X is the electric control handle signal percentage; P L ​For standard mode main control valve proportional solenoid valve 8 pilot pressure;

[0133] A3. Main Pump Control in Standard Mode: The excavator's main pump displacement affects the speed of operation. The percentage of the electric control handle signal and the fitted curve of the main pump displacement have a linear function relationship, such as... Figure 8 As shown:

[0134] Q L =k L2 ·X+b L2

[0135] Where: k L2 b L2 These are the standard mode main pump displacement coefficients, and k L2 >0, b L2 >0;

[0136] X represents the percentage of signal strength from the electronic control handle; Q L This refers to the standard mode main pump displacement.

[0137] In this technical solution, the standard mode is applicable to most conventional excavation operations, providing stable and reliable operational performance. It establishes a standard mode control parameter database, achieving a precise mapping relationship between the electric control handle's action signals and the control parameters of the main control valve and main pump. Both the main control valve control and main pump control in standard mode follow a linear function relationship to ensure the stability and accuracy of the excavator's operating speed. This control method helps improve the excavator's handling performance and operational efficiency, meeting diverse engineering needs.

[0138] II. Agile model includes the following:

[0139] B1. Establish an agile mode control parameter database: Parameter library for the percentage of electric control handle action signal corresponding to the main control valve, proportional solenoid valve, and pilot pressure point of valve 8. M [] and the main pump displacement requirement parameter library Q M [];

[0140] B2. Response speed in agile mode: Based on standard mode, improve the PID control response speed of the main control valve, main pump, and proportional solenoid valve 11.

[0141] B3. Main Valve Control in Agile Mode: Compared to Standard Mode, Agile Mode allows for faster excavator movement and response. The percentage of the electric control handle signal and the pilot pressure fitting curve of the proportional solenoid valve exhibit a quadratic function relationship, such as... Figure 7 As shown:

[0142] P M =k M1 ·X 2 +b M1 ·X+c M1

[0143] wherein: k M1 , b M1 , c M1 are the proportional electromagnetic valve pilot pressure coefficients of the agile mode, and k M1 <0, b M1 >0, c M1 >0;

[0144] X is the percentage of the electric control handle signal; P M is the pilot pressure of the proportional electromagnetic valve 8 of the main control valve in the agile mode;

[0145] B4, main pump control in the agile mode: the agile mode electric control handle signal percentage and the main pump displacement fitting curve are in a quadratic function relationship, as shown in Figure 8

[0146] Q M =k M2 ·X 2 +b M2 ·X+c M2

[0147] wherein: k M2 , b M2 , c M2 are the main pump displacement coefficients of the agile mode, and k M2 <0, b M2 >0, c M2 >0;

[0148] X is the percentage of the electric control handle signal, and Q M is the main pump displacement in the agile mode;

[0149] B5, speed drop solution in the agile mode: adopt the main pump proportional control adjustment, set the target engine speed n t , and form a closed loop control through the actual speed n a fed back by the engine;

[0150] When the actual engine speed is detected to be lower than the target speed, reduce the main pump displacement to reduce the engine load;

[0151] Calculate the engine speed difference: E n =n t -n a ;

[0152] Main pump displacement proportional control: Q n =Q n-1 -E n ;

[0153] wherein: E n is the engine speed difference, n t is the target engine speed, and n​a N is the actual engine speed, Q n Q is the current displacement of the main pump, Q n-1 Q is the last displacement of the main pump.

[0154] In the technical solution, the agile mode emphasizes the rapid response capability of the excavator and is suitable for operations that require rapid movement or fine adjustment. By establishing an agile mode control parameter database, the agile mode realizes the accurate mapping relationship between the electric control handle action signal and the control parameters of the main control valve and the main pump. In the agile mode, the control of the main control valve and the main pump uses faster PID control response speed to improve the action speed and response capability of the excavator. In addition, the control of the main control valve and the main pump in the agile mode both follow a quadratic function relationship, which helps to further improve the accuracy and stability of the excavator action. To solve the problem of speed drop that may occur during the operation of the excavator, the agile mode also uses proportional control adjustment of the main pump to ensure the stability of the engine speed through closed-loop control. This control method helps to improve the control performance and operation efficiency of the excavator, especially in engineering projects that require rapid response and fine adjustment.

[0155] III. Fine mode includes the following contents:

[0156] C1, establish a fine mode control parameter database: the electric control handle action signal percentage corresponds to the main control valve proportional electromagnetic valve 8 pilot pressure point parameter library P N and the main pump demand displacement point parameter library Q N ;

[0157] C2, response speed in fine mode: based on standard mode, reduce the PID control response speed of the main control valve and the main pump proportional electromagnetic valve;

[0158] C3, main control valve control in fine mode: compared with the standard mode, the excavator action speed and response are slower, and the electric control handle signal percentage and the proportional electromagnetic valve pilot pressure fitting curve are quadratic function relationship, as shown in Figure 7 :

[0159] P N = k N1 ·X 2 + c N1

[0160] wherein: k N1 , c N1 are the pilot pressure coefficients of the fine mode proportional electromagnetic valve, and k N1 > 0, c N1 > 0;

[0161] X is the electric control handle signal percentage; P N is the pilot pressure of the fine mode main control valve proportional electromagnetic valve 8.

[0162] C4, main pump control in fine mode: reduce the maximum displacement Q of the main pump based on the standard mode max , reduce the action speed of the excavator, and improve the softness and accuracy of the whole machine action;

[0163] The fitting curve of the fine mode electric control handle signal percentage and the main pump displacement is a quadratic function, as shown in formula (1): Figure 8

[0164] Q N = k N2 ·X 2 +c N2

[0165] Wherein: k N2 , c N2 are the fine mode main pump displacement coefficients, and k N2 >0, c N2 >0;

[0166] X is the electric control handle signal percentage, and Q N is the fine mode main pump displacement.

[0167] In the technical solution, the fine mode emphasizes the fine control ability of the excavator, and is suitable for occasions requiring high-precision operation. By establishing a fine mode control parameter database, the electric control handle action signal and the control parameters of the main control valve and the main pump are accurately mapped. In the fine mode, the control of the main control valve and the main pump adopts a reduced PID control response speed to reduce the action speed and response of the excavator and improve the accuracy and stability of the control. The control of the main control valve and the main pump in the fine mode both follow a quadratic function, which helps to further optimize the accuracy and softness of the excavator action. In addition, the fine mode also reduces the maximum displacement of the main pump to reduce the action speed of the excavator and improve the softness and accuracy of the whole machine action. This control method helps to improve the control performance and operation accuracy of the excavator, especially in occasions requiring high-precision operation.

[0168] Although the present application has been described in detail with reference to the preferred embodiments, the present application is not limited thereto. Various equivalent modifications or replacements can be made to the embodiments of the present application by those skilled in the art without departing from the spirit and essence of the present application, and these modifications or replacements shall be within the scope of the present application. Any skilled person in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which shall be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.​

Claims

1. A control method of an excavator operating mode, using an excavator operating mode control system, the excavator operating mode control system comprising the following modules: a display module for displaying the excavator operating mode, the operating mode being divided into a standard mode, a nimble mode and a fine mode; an operator selects different operating modes through the display module and sends input signals to the control module through a bus (3); a control module for receiving and identifying input information from the bus (3); the control module uses three kinds of electric control hydraulic systems respectively for the three operating modes, establishes a main control valve and main pump control parameter database for each operating mode, and performs performance debugging for each operating mode to achieve optimal performance of the operating mode; a power execution module for collecting electric control handle (7) operation signal sending analog signal, and outputting proportional solenoid valve current through control module operation; the power execution module determines the output current of the proportional solenoid valve according to the front and back and left and right displacement of the left and right electric control handles, so as to adjust the action speed of the boom cylinder (12), the stick cylinder (13), the bucket cylinder (14), the swing motor (16) and the walking motor (15); characterized in that it comprises the following steps: S100, selecting and switching the standard mode, the nimble mode and the fine mode through the display module of the excavator; after the operating mode is switched, the operating mode input signal is transmitted through the bus (3); S200, the control module receives the input signal on the bus (3) and identifies it; the current operating mode is maintained and the parameters of the corresponding main control valve and main pump control parameter database are called according to the current mode, and control operation is performed; S300, the control module converts the electric control handle (7) signal into the current of the main control valve and main pump proportional solenoid valve (11) according to the related algorithm, adjusts the flow direction and flow of hydraulic oil by controlling the proportional solenoid valve, and finally controls the excavator working device to perform corresponding actions; in the step S100, the standard mode comprises the following contents: A2, main control valve control in the standard mode: the excavator action speed is relatively neutral in the standard mode, and the electric control handle signal percentage and the proportional solenoid valve pilot pressure fitting curve show a first order function relationship: A1, Establish standard mode control parameter database: electric control handle action signal percentage corresponding to main control valve proportional electromagnetic valve pilot pressure point parameter library and main pump demand displacement point parameter library ; A3, main pump control in the standard mode: the excavator action speed is affected by the main pump displacement, and the electric control handle signal percentage and the main pump displacement fitting curve show a first order function relationship: wherein: , are the standard mode proportional solenoid pilot pressure coefficients, respectively, and , ; is the percentage of the electrically controlled handle signal; is the standard mode master valve proportional solenoid pilot pressure; in the step S100, the nimble mode comprises the following contents: wherein: , are the standard mode main pump displacement coefficients, respectively, and , ; is the percentage of the electrically controlled handle signal; is the standard mode main pump displacement; B2, response speed in the nimble mode: based on the standard mode, the PID control response speed of the main control valve and main pump proportional solenoid valve (11) is improved; B1, establish agile mode control parameter database: electric control handle action signal percentage corresponding to main control valve proportional electromagnetic valve (8) pilot pressure point parameter library and main pump demand displacement point parameter library ; B3, main control valve control in the nimble mode: compared with the standard mode, the excavator action speed and response are faster in the nimble mode, and the electric control handle signal percentage and the proportional solenoid valve pilot pressure fitting curve show a second order function relationship: B4, main pump control in the nimble mode: the electric control handle signal percentage and the main pump displacement fitting curve show a second order function relationship: Wherein: , , are the proportional solenoid valve pilot pressure coefficients of the agile mode, respectively, and , , ; is the electrically controlled handle signal percentage; is the agile mode master valve proportional solenoid valve (8) pilot pressure; when the actual engine speed is detected to be lower than the target speed, the main pump displacement is reduced to reduce the engine load; wherein: , , are the displacement coefficients of the main pump in the agile mode, respectively, and , , ; is the percentage of the electrically controlled handle signal, is the main pump displacement in the agile mode; B5, the solution of speed drop in agile mode: adopt the main pump proportional control adjustment, set the target engine speed , through the actual speed feedback of the engine Form a closed-loop control; in the step S100, the fine mode comprises the following contents: Calculating the engine speed difference value: ; Main pump displacement proportional control: ; wherein: is an engine speed difference value, is a target engine speed, is an actual engine speed, is a current displacement of the main pump, is a last displacement of the main pump; ​ C1, Establishing a fine mode control parameter database: the percentage of electric control handle action signal corresponding to the main valve proportional electromagnetic valve (8) pilot pressure point parameter library And the main pump demand displacement point parameter library ; C2, response speed in fine mode: based on standard mode, reduce the PID control response speed of the main control valve and the proportional electromagnetic valve (11) of the main pump; C3, main control valve control in fine mode: compared with standard mode, the excavator action speed and response are slower, and the percentage of the electric control handle signal and the fitting curve of the proportional electromagnetic valve pilot pressure are in quadratic function relationship: wherein: , are the fine mode proportional solenoid pilot pressure coefficients, respectively, and , ; is the electrically controlled handle signal percentage; is the fine mode master valve proportional solenoid valve (8) pilot pressure; C4, main pump control in fine mode: reduce main pump maximum displacement based on standard mode , reduce excavator action speed, improve machine action softness and accuracy; The percentage of the electric control handle signal and the fitting curve of the main pump displacement are in quadratic function relationship in fine mode: wherein: , are the fine mode main pump displacement coefficients, respectively, and , ; Percent of electrically controlled handle signal, Fine mode main pump displacement.

2. The control method of the operation mode of the excavator according to claim 1, characterized in that, The step S100 includes the following sub-steps: S110, through mutual coordination of the display module and the control module, the display module interface is used to display the excavator control mode, which is divided into standard mode, agile mode and fine mode; S120, different control modes are selected according to actual working conditions and operation habits; S130, the display module sends the current control mode to the control module through the bus (3).

3. The control method of the operation mode of the excavator according to claim 2, characterized in that, The step S200 includes the following sub-steps: S210, the control module receives the message information of the display module through the excavator bus (3); S220, the control module identifies and judges the message information, and analyzes the current control mode information; S230, whether the excavator control mode is changed is judged: If not changed, the next step S240 is entered; If changed, the previous step S220 is entered to re-identify the control mode; S240, if the control mode does not change, the next time the power is turned on to be the current memory control mode information, and it is not necessary to set the mode every time the power is turned on; S250, the corresponding main control valve and main pump control parameter database parameters are called according to the current control mode, three control modes adopt three electric control hydraulic system matching modes, so that the excavator is in the performance optimal state in the standard mode, the agile mode and the fine mode.

4. The control method of the operation mode of the excavator according to claim 3, characterized in that, The step S300 includes the following sub-steps: S310, the electric control handle (7) sends an analog signal according to the current position, the control module identifies and receives the signal from the electric control handle (7), and filters the signal; S320, the control module calculates the main valve core pilot pressure value according to the front and back and left and right displacement percentage of the electric control handle (7), and determines the output current of the excavator actuator (10) proportional electromagnetic valve according to the pilot pressure / proportional electromagnetic valve conversion formula of the main control valve and the main pump proportional electromagnetic valve (11); S330, the target electromagnetic valve current value is compared with the feedback actual electromagnetic valve current, and the actual control current is output through the internal PID control algorithm of the control module; S340, the size of the main control valve (4) valve core pilot pressure is adjusted, the displacement control hydraulic oil flow direction and flow of the main control valve (4) valve core are pushed, and the main pump (5) displacement size is adjusted through the electromagnetic valve control swash plate angle adjuster (9) of the main pump (5); S350, the main control valve (4) adjusts the execution action and speed of the boom cylinder (12), the stick cylinder (13), the bucket cylinder (14), the rotary motor (16) and the walking motor (15) through the flow and flow direction of the control hydraulic oil.

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